Adaptive control of the multi-arm robotic system

An adaptive scheme for position control of the multi-arm system has been developed. The choice of the torques to achieve the desired acceleration is not unique. Adding more constraints permits the torques of the system to be uniquely determined. A constraint that aims at minimizing the cost function is introduced. In this case, the linearity of the dynamic functions is still maintained. This makes it possible for adaptive schemes proposed for single arm robots to be used in the multi-arm case.<
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